无需加速度测量，精准控制重物机械臂的力响应特性。
Impedance Control for Manipulators Handling Heavy Payloads
- 采用内外环反馈结构，直接处理机器人动态不确定性。
- 实验证明可准确实现期望的阻抗模型，即使负载较重亦有效。
- 适合需要高精度力控的工业重载场景，如装配、搬运。
将重载物体安装在机械臂腕部力/力矩传感器上时，传统阻抗控制器因存在非接触力（即负载的惯性与重力）而难以实现期望的阻抗特性。本文提出一种无需加速度测量的阻抗控制方案，既无需腕部加速度计，也无需动态估计器来补偿惯性负载力。所提控制器采用内外环反馈结构，不仅能应对机器人动力学不确定性，还可设定通用的目标阻抗模型，包括非线性模型。控制器的稳定性和收敛性经理论证明：只要期望惯量与负载惯量不完全相同，控制输入即保持有界。实验结果表明，该控制器能有效根据期望阻抗模型精确调节携带重载的机械臂的力响应特性。
原文摘要 · Abstract (English)
Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to the presence of non-contact forces; namely, the inertial and gravitational forces of the payload. This paper presents an impedance control scheme designed to accurately shape the force-response of such a manipulator without requiring acceleration measurements. As a result, neither wrist accelerometers nor dynamic estimators for compensating inertial load forces are necessary. The proposed controller employs an inner-outer loop feedback structure, which not only addresses uncertainties in the robot's dynamics but also enables the specification of a general target impedance model, including nonlinear models. Stability and convergence of the controller are analytically proven, with results showing that the control input remains bounded as long as the desired inertia differs from the payload inertia. Experimental results confirm that the proposed impedance controller effectively shapes the impedance of a manipulator carrying a heavy load according to the desired impedance model.
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